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Depending on where you are traveling from and your desire to see some wildlife, I would suggest you arrive by train to Sawai Madhopur and visit Ranthambore instead of Sariska. From there you can travel to Jaipur and onto Agra via the Keoleado Park near Bharatpur. Be sure to make a detour to the lovely Deeg Palace and then continue onto Agra.
This journey can be almost entirely done by rail and employing local drivers.